#include <mc_solver/ContactConstraint.h>

Inheritance diagram for mc_solver::ContactConstraint:

Collaboration diagram for mc_solver::ContactConstraint:

Public Types
enum class	ContactType { Acceleration = 0 , Velocity = 1 , Position = 2 }

Public Member Functions
	ContactConstraint (double timeStep, ContactType contactType=ContactType::Velocity)

void	addToSolverImpl (QPSolver &solver) override

void	removeFromSolverImpl (QPSolver &solver) override

tasks::qp::ContactConstr *	contactConstr ()

ContactType	contactType () const noexcept

Public Member Functions inherited from mc_solver::ConstraintSet
	ConstraintSet ()

void	addToSolver (mc_solver::QPSolver &solver)

virtual void	update (QPSolver &)
	Update the constraint. More...

void	removeFromSolver (mc_solver::QPSolver &solver)

virtual	~ConstraintSet ()

bool	inSolver () const noexcept

QPSolver::Backend	backend () const noexcept

Additional Inherited Members
Protected Attributes inherited from mc_solver::ConstraintSet
QPSolver::Backend	backend_

bool	inSolver_ = false

Detailed Description

Handle geometric constraints on contacts

Member Enumeration Documentation

◆ ContactType

enum mc_solver::ContactConstraint::ContactType

strong

This enum list the possible types of ContactConstr, see Tasks documentation for mathematical details on each of them

Enumerator
Acceleration	Acceleration constraint
Velocity	Velocity constraint
Position	Position constraint

Constructor & Destructor Documentation

◆ ContactConstraint()

mc_solver::ContactConstraint::ContactConstraint	(	double	timeStep,
		ContactType	contactType = `ContactType::Velocity`
	)

Constructor

Parameters

timeStep	Solver timestep
contactType	Enable different geometric constraint

Member Function Documentation

◆ addToSolverImpl()

void mc_solver::ContactConstraint::addToSolverImpl ( QPSolver & solver )

overridevirtual

Implementation of mc_solver::ConstraintSet::addToSolver

Implements mc_solver::ConstraintSet.

◆ contactConstr()

tasks::qp::ContactConstr* mc_solver::ContactConstraint::contactConstr ( )

Returns the underlying constraint in the Tasks backend

Exceptions

If	the backend is not Tasks backend

◆ contactType()

ContactType mc_solver::ContactConstraint::contactType ( ) const

inlinenoexcept

Returns the contact type for this constraint

◆ removeFromSolverImpl()

void mc_solver::ContactConstraint::removeFromSolverImpl ( QPSolver & solver )